Intelligent Control of Underwater Robots Based on a New-Type Tracking Differentiator

Aimed at the uncertainties of the underwater robot model and the interference of diverse uncertain factors during the actual motion process, an intelligent control method grounded in a new-type tracking differentiator is proposed. First, considering the shortcomings of the fal function, an improved tracking differentiator based on the inverse hyperbolic function is designed. This differentiator can accomplish excellent tracking and differentiation of the input signal. Subsequently, an advanced compensation extended state observer is constructed to effectively handle uncertainties and external disturbances. Finally, an internal model nonlinear controller that can dynamically adjust the gain effect in accordance with the magnitude of the feedback error is designed. This controller can rapidly suppress the tracking error and achieve high quality control of the underwater robot system. The simulation experiment results demonstrate that the proposed method features a small overshoot, a strong tracking ability, and a high anti-interference capacity.